Hi all,

Chiara asked me to summarize what happened to ratcheting in r2608.
In short, many 360° turns applied on contacts were generating artifacts,
see http://www.mail-archive.com/[email protected]/msg05844.html.
Thinking about that, I realized that the (R1*spin1 - R2*spin2) computed
when avoidRatcheting=true was not
ojective, and it was the source of the artifacts. The fix adpoted in r2608
(alpha) is similar to what is proposed by McNamara et al. (note :
McNamara doesn't mention objectivity issues IIRC, only ratcheting

I warmly recommend this paper cited in Sceom comments, it explains more
than I could in emails.

Cheers.

Bruno


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